vehicle

Abstract

To facilitate a user's manipulation for parallel displacement in a sideways direction or a turn of a vehicle.SOLUTION: A vehicle 1 includes a drive unit 3 that is incorporated in a vehicle body frame 2 and can make a parallel displacement or a turn in all directions on a floor surface, direction input units 41C and 45 that receive a direction input associated at least with a forward, backward, leftward, or rightward direction, a mode change manipulator 41D that receives a mode change input associated with a mode change made by a user, and a controller 6. The controller changes traveling modes of the drive unit between a parallel displacement mode and a turn mode on the basis of the mode change input. When the parallel displacement mode is selected, the controller controls the drive unit on the basis of a signal sent from the direction input unit so that the drive unit can make a parallel displacement on the floor surface. When the turn mode is selected, the controller controls the drive unit on the basis of a signal, which is associated with a leftward or rightward direction and sent from the direction input unit, so that the drive unit can make a turn on the floor surface.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle capable of lateral translation and turning. [Background technology]

[0002] Patent Document 1 discloses an electric vehicle having left and right drive wheels, left and right electric motors that rotate the left and right drive wheels independently, and a joystick for indicating the direction of travel. The joystick has a forward button and a reverse button. The user can move the vehicle forward or backward by pressing the forward button or the reverse button. The user can also turn the vehicle by tilting the joystick. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2020-169000 Summary of the Invention [Problem to be solved by the invention]

[0004] When an omnidirectional vehicle with drive wheels capable of lateral translation is used, the vehicle can both translate laterally and turn. In this case, the vehicle must be able to distinguish between operations corresponding to lateral translation and operations corresponding to turning. However, if separate controls are provided for accepting operations corresponding to lateral translation and operations corresponding to turning, the number of controls increases, making the user's operations more complicated.

[0005] In view of the above background, an object of the present invention is to facilitate user operation of a vehicle for lateral translation and turning. [Means for solving the problem]

[0006] In order to solve the above problem, one aspect of the present invention is a vehicle (1) comprising a body frame (2), at least one drive unit (3) mounted on the body frame and capable of translation in all directions on a floor surface and of turning, a direction input device (41C, 45) that receives directional input from a user corresponding to at least forward, backward, left, and right, a mode switching operator (41D) that receives a mode switching input corresponding to a mode switch by the user, and a control device (6) that controls the drive unit based on signals from the direction input device and the mode switching operator, wherein the control device switches the driving mode of the drive unit between a translation mode and a turning mode based on the mode switching input, and when the translation mode is selected, controls the drive unit to translate relative to the floor surface based on the signal from the direction input device, and when the turning mode is selected, controls the drive unit to turn relative to the floor surface based on the signal corresponding to left or right from the direction input device.

[0007] According to this aspect, the user can select a travel mode by operating the mode switching operator, and can move the vehicle according to the selected travel mode using the direction input device. This allows the user to distinguish between the parallel movement mode and the turning mode, making operation easier. Furthermore, a common operator can be used to indicate the direction of parallel movement and the direction of turning of the vehicle.

[0008] In the above aspect, the direction input device may be a joystick.

[0009] According to this aspect, it is possible to facilitate the operation of the vehicle by the user.

[0010] In the above aspect, the mode switching operator may be a push switch.

[0011] According to this aspect, it is possible to facilitate the operation of the vehicle by the user.

[0012] In the above aspect, the directional input device and the mode switching operator may be a common joystick, and the joystick may output a signal corresponding to the directional input when tilted by the user, and may output a signal corresponding to the mode switching input when pressed in a neutral position by the user.

[0013] According to this aspect, the user can control the direction of travel and the driving mode of the vehicle by operating the joystick, which makes operation easier and reduces the number of controls.

[0014] In the above aspect, the directional input device may be a center of gravity movement detection device that detects a movement of the center of gravity of the entire vehicle including the user riding in the vehicle and the vehicle, and outputs a signal corresponding to the direction of the center of gravity movement.

[0015] According to this aspect, the vehicle can be moved in any direction by shifting the user's center of gravity.

[0016] In the above aspect, the center-of-gravity shift detection device may be an inclination angle sensor (45) provided on the body frame and detecting an inclination angle of the body frame.

[0017] According to this aspect, the tilt angle sensor can obtain the direction in which the vehicle is being operated.

[0018] In the above aspect, the vehicle may further include an indicator (43) for indicating the running mode currently being executed.

[0019] According to this aspect, the user can see the indicator and recognize the selected driving mode.

[0020] In the above aspect, the drive units may be provided in a pair on the left and right, and each of the drive units may have a pair of drive discs (10) rotatably supported on the body frame and arranged coaxially opposite each other, a plurality of drive rollers (11) rotatably supported on the drive discs, a pair of actuators (12) that rotate the pair of drive discs independently, and a drive wheel (8) that is annular, arranged coaxially with the drive discs between the pair of drive discs, in contact with the plurality of drive rollers, and rotatable around a central axis and an annular axis.

[0021] According to this aspect, it is possible to provide a traveling unit that is capable of translation in all directions and turning. [Effects of the Invention]

[0022] According to the above configuration, the user can easily operate the vehicle to translate in the lateral direction and to turn. [Brief explanation of the drawings]

[0023] [Figure 1] Left side view of vehicle with seat in low position [Figure 2] Left side view of vehicle with seat in high position [Figure 3] Cross section of the drive unit [Figure 4] A perspective view of a seat frame assembly [Figure 5] A perspective view of the vehicle from above [Figure 6] Vehicle floor plan [Figure 7] Block diagram showing the configuration of the control device [Figure 8] Flow diagram showing the driving control procedure DETAILED DESCRIPTION OF THE INVENTION

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle according to the present invention will now be described with reference to the accompanying drawings. In this embodiment, the vehicle is configured as an inverted pendulum vehicle.

[0025] As shown in Figures 1 and 2, the vehicle 1 has a body frame 2, at least one drive unit 3 mounted on the body frame 2 and movable on the floor, a seat 4 positioned above the body frame 2 and supporting the user's buttocks, a lifting device 5 mounted between the body frame 2 and the seat 4, a control device 6 that controls the drive unit 3 and the lifting device 5, and a battery 7 mounted on the body frame 2.

[0026] The body frame 2 has a lower frame 2A and an upper frame 2B connected to an upper part of the lower frame 2A. The upper frame 2B is connected to the lower frame 2A so as to be rotatable about a rotation axis extending in the front-to-rear direction.

[0027] In this embodiment, a pair of left and right drive units 3 are provided on the left and right sides of the lower frame 2A. Each drive unit 3 has a drive wheel 8 controlled by an inverted pendulum. In this embodiment, each drive unit 3 is a friction drive device that can move in all directions along the floor surface. As shown in FIG. 3 , the friction drive device includes a pair of drive discs 10 rotatably supported on the lower frame 2A, multiple drive rollers 11 rotatably supported on each drive disc 10, an annular drive wheel 8 disposed between the left and right drive discs 10 and in contact with the drive rollers 11, and a pair of actuators 12 that independently rotate the pair of drive discs 10. The pair of drive discs 10 are arranged coaxially with each other, with their rotation axes extending in the left-right direction. The multiple drive rollers 11 are arranged circumferentially at intervals around the outer periphery of the drive disc 10 and are each supported rotatably around an axis inclined relative to the circumferential direction of the drive disc 10.

[0028] 1, each actuator 12 includes an electric motor 12A and a transmission mechanism 12B that transmits the rotational force of the electric motor 12A to the corresponding drive disk 10. The transmission mechanism 12B may be, for example, a belt transmission mechanism. The electric motor 12A may be disposed above the drive disk 10.

[0029] As shown in Figures 1 and 3, the drive wheel 8 is annular and is disposed coaxially between a pair of drive disks 10. The drive wheel 8 is in contact with a plurality of drive rollers 11 and is rotatable around a central axis and an annular axis. The drive wheel 8 has, for example, an annular core body 13 and a plurality of driven rollers 14 rotatably supported on the core body 13. Each driven roller 14 is supported on the core body 13 so as to be rotatable around the axis of the annular core body 13. Each driven roller 14 receives a load from the drive disks 10 and rotates relative to the core body 13.

[0030] When the pair of drive discs 10 rotate in the same direction at the same rotational speed, the drive wheels 8 rotate in the same direction at the same rotational speed as the drive discs 10. When a difference occurs in the rotational direction or rotational speed of the pair of drive discs 10, the driven rollers 14 of the drive wheels 8 rotate relative to the core body 13. This allows the drive unit 3 to generate propulsive force in the left and right directions relative to the floor surface.

[0031] A battery 7 is supported at the rear of the lower frame 2A. A control device 6 is supported inside or at the rear of the lower frame 2A.

[0032] The lifting device 5 is a device that raises and lowers the seat 4 between a low position and a high position. The seat 4 has a seat frame 18 supported by the lifting device 5 and a pad 19 supported on the upper part of the seat frame 18. A user can sit on the pad 19. The lifting device 5 is coupled to the upper frame 2B of the vehicle body frame 2 and the seat frame 18. The lifting device 5 extends and retracts in the vertical direction, thereby displacing the seat frame 18 up and down relative to the upper frame 2B of the vehicle body frame 2. The lifting device 5 may be, for example, a ball screw mechanism or a rack and pinion mechanism driven by an electric motor, or may be a linear motor. The lifting device 5 may also be an air cylinder that extends and retracts using compressed air from a compressor.

[0033] The lifting device 5 may have, for example, a base supported by the upper frame 2B, a movable body that is mounted on the base so as to be movable up and down and is connected to the seat frame 18, a ball screw mechanism that moves the movable body relative to the base, and an electric motor that drives the ball screw mechanism.

[0034] 2, the high position of the seat 4 may be located vertically above the low position of the seat 4. In other embodiments, the high position of the seat 4 may be offset laterally from the low position of the seat 4.

[0035] 4, the seat frame 18 is formed in a rectangular frame shape in a plan view. The seat frame 18 is connected to the upper end of the lifting device 5. The seat frame 18 supports a pad 19 from below.

[0036] The vehicle 1 has at least one first leg 24 extending downward from the seat 4 and having a roller 23 at its lower end, and at least one second leg 27 extending downward from the seat 4 and having an abutment member 26 at its lower end. In this embodiment, the vehicle 1 has four first legs 24 and four second legs 27. Each of the first legs 24 and each of the second legs 27 are rotatably coupled to the seat frame 18. The first legs 24 have a similar configuration to one another, and the second legs 27 have a similar configuration to one another.

[0037] The first leg 24 is rotatable between a stored position in which it is disposed close to the body frame 2 and a deployed position in which it is further to the side from the body frame 2 than the stored position. The first leg 24 may have a joint in the middle in the longitudinal direction.

[0038] Roller 23 is rotatably coupled to the lower end of first leg 24. Roller 23 may be a caster whose rotation axis rotates around a vertical axis relative to first leg 24. In another embodiment, a ball may be supported on the lower end of first leg 24 instead of roller 23.

[0039] The first leg 24 has a biasing member (not shown) that biases it from the deployed position toward the stored position. The first leg 24 may have a damper that damps rotation. The damper may be a rotary damper or a piston damper.

[0040] The second leg 27 is extendable in the vertical direction and biased in the extension direction. An abutment member 26 is provided at the lower end of the second leg 27. The abutment member 26 preferably has a higher flexibility than the second leg 27. The abutment member 26 also preferably has a higher coefficient of friction than the second leg 27. The abutment member 26 may be formed of, for example, rubber or elastomer. The abutment member 26 contacts the ground, thereby maintaining the vehicle 1, which is in contact with the ground via the rollers 23, in a stopped state. The vehicle 1 is maintained in a stopped state by the frictional force between the abutment member 26 provided at the lower end of the second leg 27 and the floor surface. Because the vehicle 1 is maintained in a stopped state by the frictional force between the abutment member 26 and the floor surface, there is no need to supply power to the drive unit 3, thereby improving energy efficiency. Furthermore, stopping the vehicle 1 makes it easier to determine the center of gravity of the vehicle 1 when moving the seat 4 to a higher position and starting inverted pendulum control.

[0041] The second legs 27 are biased in the extension direction by a biasing member. The biasing member is preferably a compression coil spring. The second legs 27 preferably have a damper that damps the extension / contraction movement. The damper is preferably a piston damper. The lower portions of two adjacent second legs 27 are connected to each other by a connecting member 31.

[0042] As shown in FIG. 2, when the seat 4 is in the high position, the rollers 23 and the contact members 26 are separated from the floor surface. When the seat 4 is in the high position, the lower ends of the contact members 26 are positioned lower than the lower ends of the rollers 23. As shown in FIG. 1, when the seat 4 is in the low position, the rollers 23 and the contact members 26 come into contact with the floor surface. When the seat 4 moves from the high position to the low position, the contact members 26 come into contact with the floor surface before the rollers 23. This allows the vehicle 1 to be stopped earlier when the seat 4 moves to the low position.

[0043] Each of the first legs 24 is pushed by the floor surface to move from the stored position to the deployed position, thereby increasing the distance between the contact points of the first legs 24 and stabilizing the posture of the vehicle 1 in the low position.

[0044] Each second leg 27 is connected to a lever 34 via a transmission mechanism. In this embodiment, a pair of left and right levers 34 are provided on the left and right sides of the seat 4. When the seat 4 is in the low position, the user can move the second legs 27 to the retracted position by operating the levers 34. As a result, when the seat 4 is in the low position, the abutment members 26 are separated from the floor surface, allowing the vehicle 1 to move.

[0045] 4, the vehicle 1 has at least one support member 37 extending downward from the seat 4. The support member 37 has a footrest 37A at its lower part that supports the soles of the user's feet. The support member 37 and the footrest 37A are spaced apart from the floor regardless of the position of the seat 4.

[0046] As shown in Figures 5 and 6, the vehicle 1 has an operating device 40 provided on at least one of the left and right sides of the seat 4. In this embodiment, the operating device 40 is provided on both the left and right sides of the seat 4. This allows a user with a disability in one of their hands to operate the vehicle 1 with the other hand. It is preferable that the operating devices 40 on the left and right sides have the same configuration.

[0047] The operating device 40 has an operating panel 40B with an operating surface 40A facing upward, and a plurality of operating elements 41 provided on the operating surface 40A. The lever 34 constitutes part of the operating device 40 and extends upward and forward from the rear of the operating panel 40B. The operating panel 40B may be supported by the seat frame 18. The operating panel 40B extends forward and backward along the side of the pad 19.

[0048] 6, the multiple operators 41 include a power switch 41A, a lift switch 41B, a movement direction switch 41C (a direction input device), and a driving mode selector switch 41D (a mode selector). The power switch 41A, the lift switch 41B, the movement direction switch 41C, and the driving mode selector switch 41D may be provided on each of the left and right operating devices 40. The multiple operators 41 are connected to the control device 6.

[0049] The movement direction switch 41C is a switch for operating the drive unit 3. The movement direction switch 41C is an operator that accepts directional inputs corresponding to at least forward, backward, left, and right from the user. The movement direction switch 41C may be a joystick. In another embodiment, the movement direction switch 41C may be a four-button switch corresponding to forward, backward, right, and left. The movement direction switch 41C accepts any direction along the horizontal plane, including forward, backward, left, and right, and the amount of operation in that direction. The movement direction switch 41C outputs signals corresponding to a forward / backward component, which is the amount of operation in the forward / backward direction, and a left / right component, which is the amount of operation in the left / right direction, to the control device 6.

[0050] The driving mode changeover switch 41D is an operator that accepts a mode changeover input corresponding to a mode changeover by the user, and is preferably a push switch.

[0051] An indicator 43 is provided on the operation surface 40A to indicate the currently selected driving mode. The indicator 43 may have a first light-emitting element corresponding to the translation mode and a second light-emitting element corresponding to the turning mode. The indicator 43 may also change its light color depending on the selected driving mode. The indicator 43 may also be a display provided on the operation surface 40A.

[0052] At least one of the multiple operators 41 may illuminate to indicate the state of the vehicle 1. For example, the power switch 41A may emit light when the power of the vehicle 1 is on, i.e., when the vehicle 1 is in an activated state. The lift switch 41B may emit light when the lift device 5 is operating. The lift switch 41B may change the emitted color depending on the position of the seat 4. The travel mode selector switch 41D may change the emitted color depending on the selected travel mode.

[0053] The vehicle 1 has a center-of-gravity shift detection device as a directional input device. The center-of-gravity shift detection device detects the shift of the center of gravity of the entire vehicle, including the vehicle 1 and the user aboard the vehicle 1, and outputs a signal corresponding to the direction of the center-of-gravity shift. In this embodiment, the center-of-gravity shift detection device is an inclination angle sensor 45. The inclination angle sensor 45 is provided on the body frame 2 and acquires the inclination angle of the body frame 2 with respect to a horizontal plane. The inclination angle sensor 45 may be a gyro sensor. The inclination angle sensor 45 may be configured with a known device that detects acceleration and angular velocity in three axial directions and sequentially measures (estimates) the body inclination angle by performing strap-down calculation processing. However, the inclination angle sensor 45 is not limited to this embodiment. For example, the inclination angle sensor 45 may be a sensor that detects the body inclination angle based on changes in the direction of gravitational acceleration with respect to the body frame 2. In this case, the inclination angle sensor 45 may be configured with a known device based on MEMS technology.

[0054] The tilt angle sensor 45 is provided on the upper frame 2B of the vehicle body frame 2. In another embodiment, the tilt angle sensor 45 may be provided on the seat frame 18.

[0055] The vehicle 1 has a seat position sensor 46 that detects the position of the seat 4 relative to the body frame 2. The seat position sensor 46 detects at least whether the seat 4 is in a low position or a high position. The seat position sensor 46 may be, for example, a proximity switch or a contact switch. The seat position sensor 46 may also obtain the position of the seat 4 based on the extension / retraction state of the lifting device 5. The seat position sensor 46 is connected to the control device 6.

[0056] An outer shell 47 may be attached to the lower part of the vehicle 1. The second legs 27, the support members 37, and the upper parts of the first legs 24 may be disposed inside the outer shell 47. The lower ends of the first legs 24 and the footrest 37A may protrude outside the outer shell 47.

[0057] The control device 6 is a computing device having a microprocessor (MPU), non-volatile memory, volatile memory, and an interface. The control device 6 realizes various applications by having the microprocessor execute programs stored in the non-volatile memory. The control device 6 has a lifting / lowering control unit 51 and a traveling control unit 52. The lifting / lowering control unit 51 controls the lifting device 5. The traveling control unit 52 controls the electric motors 12A of the left and right drive units 3.

[0058] When the seat 4 is in a high position, the control device 6 controls the left and right drive units 3 based on inverted pendulum control. This maintains the tilt angle of the body frame 2 at 0 degrees. When the tilt angle of the body frame 2 is 0 degrees, the center of gravity of the vehicle 1 is located vertically above the rotation axes of the left and right drive wheels 8. Furthermore, based on the tilt angle of the body frame 2, the control device 6 drives the drive units 3 to translate or rotate in the same direction as the tilt angle. This allows a user seated on the seat 4 to move the vehicle 1 in any direction by shifting their weight.

[0059] When the seat 4 is in the low position, the control device 6 controls the drive unit 3 based on a signal from the travel direction switch 41C to move the vehicle 1. When the seat 4 is in the low position, the control device 6 does not perform inverted pendulum control.

[0060] The control device 6 turns on / off the power supply to the vehicle 1 in response to the user's operation of the power switch 41A. The control device 6 drives the lifting device 5 to raise and lower the seat 4 in response to the user's operation of the lifting switch 41B.

[0061] In the drive unit 3, when a pair of drive disks 10 rotate in the same direction at the same rotational speed, the drive wheels 8 rotate together with the pair of drive disks 10. That is, the drive wheels 8 rotate forward or backward around the rotation axis of the drive disks 10. At this time, the drive rollers 11 of the drive disks 10 and the driven rollers 14 of the drive wheels 8 do not rotate relative to the core body 13. In the drive unit 3, when a difference in rotational speed occurs between the pair of drive disks 10, a component force perpendicular to the circumferential (tangential) force caused by the rotation of the pair of drive disks 10 acts from the left and right drive rollers 11 on the driven rollers 14 of the drive wheels 8. Because the axes of the drive rollers 11 are inclined with respect to the circumferential direction of the drive rollers 11, a component force is generated between the drive disks 10 due to the difference in rotational speed. This component force causes the drive rollers 11 to rotate relative to the drive disks 10, and the driven rollers 14 to rotate relative to the core body 13. As a result, the drive wheels 8 generate a driving force in the left and right directions.

[0062] The vehicle 1 moves forward when the left and right drive units 3 rotate forward at the same speed. The vehicle 1 moves backward when the left and right drive units 3 rotate backward at the same speed. The vehicle 1 turns right or left when speed is generated in the forward and backward rotation of the left and right drive units 3. The vehicle 1 moves parallel to the right or left when the driven rollers 14 of each drive wheel 8 of the left and right drive units 3 rotate.

[0063] When the user presses the travel mode selector switch 41D, the control device 6 switches the travel mode between the parallel movement mode and the turning mode based on a signal from the travel mode selector switch 41D. When the user operates the movement direction switch 41C, the control device 6 controls the drive unit 3 based on the movement direction switch 41C.

[0064] The control method of each drive unit by the control device 6 will be described. When the parallel movement mode is selected, the control device 6 controls the drive unit 3 so that the drive unit 3 moves parallel to the floor surface based on a signal from the movement direction switch 41C. When the rotation movement mode is selected, the control device 6 controls the drive unit 3 so that the drive unit 3 rotates relative to the floor surface based on a signal corresponding to left or right from the movement direction switch 41C. A specific control procedure will be illustrated below. FIG. 8 is a flowchart showing the procedure of driving control executed by the control device 6. In the driving control, the control device 6 first determines whether the seat 4 is in the low position based on a signal from the seat position sensor 46 (S1). If the seat 4 is in the low position (the determination result of S1 is Yes), the control device 6 determines whether the driving mode is the parallel movement mode (S2). If the driving mode is the parallel movement mode (the determination result of S2 is Yes), the control device 6 executes low-position parallel movement control (S3). If it is determined in step S2 that the traveling mode is not the parallel movement mode (the determination result in S2 is No), the control device 6 executes low position turning control (S4).

[0065] In the determination of step S1, if the seat 4 is not in the low position (the determination result of S1 is No), it is determined whether the traveling mode is the parallel translation mode (S5). If the traveling mode is the parallel translation mode (the determination result of S5 is Yes), the control device 6 executes high position parallel translation control (S6). If the traveling mode is not the parallel translation mode (the determination result of S5 is No) in the determination of step S5, the control device 6 executes high position turning control (S7).

[0066] In the low position translation control, the control device 6 sets the same drive amount (control amount) to the left and right drive units 3. This causes the left and right drive units 3 to move in the same direction.

[0067] In the low-position parallel movement control, the control device 6 sets a longitudinal speed target value and a lateral speed target value based on a signal from the movement direction switch 41C. Specifically, the control device 6 sets the longitudinal speed target value based on the longitudinal component of the signal received from the movement direction switch 41C, and sets the lateral speed target value based on the lateral component. Next, the control device 6 sets a first target rotation speed for the left and right drive disks 10 based on the longitudinal speed target value. The same value is set for the first target rotation speed for both the left and right drive disks 10. Next, the control device 6 sets a second target rotation speed for the left and right drive disks 10 based on the lateral speed target value. Different values ​​are set for the second target rotation speed for the left and right drive disks 10. Because the second target rotation speeds are different for the left and right drive disks 10, a rotation speed difference occurs between the left and right drive disks 10, causing the driven roller 14 to rotate relative to the core body 13. Next, the first target rotation speed and the second target rotation speed are added together for each of the left and right drive disks 10, thereby setting the target rotation speed for the left drive disk 10 and the target rotation speed for the right drive disk 10. The control device 6 then controls the left electric motor 12A based on the target rotation speed of the left drive disk 10, and controls the right electric motor 12A based on the target rotation speed of the right drive disk 10.

[0068] In the low position turning control, the control device 6 sets different drive amounts (control amounts) for the left and right drive units 3. The control device 6 also sets the same target rotation speed for the left and right drive disks 10 of the left drive unit 3, and sets the same target rotation speed for the left and right drive disks 10 of the right drive unit 3. As a result, no rotation of the driven roller 14 relative to the core body 13 occurs in each drive unit 3. As a result, no parallel movement in the left and right direction occurs.

[0069] In the low-position turning control, the control device 6 sets a target longitudinal speed value and a target lateral turning amount value based on a signal from the movement direction switch 41C. Specifically, the control device 6 sets the target longitudinal speed value based on the longitudinal component of the signal received from the movement direction switch 41C, and sets the target lateral turning amount value based on the lateral component. Next, the control device 6 sets a first target rotation speed for the left and right drive disks 10 of the left and right drive units 3 based on the target longitudinal speed value. The same first target rotation speed value is set for each drive disk 10 of the left and right drive units 3. Next, the control device 6 sets a second target rotation speed for the left and right drive disks 10 of the left and right drive units 3 based on the target lateral turning amount value. The same second target rotation speed value is set for each drive disk 10 of the left drive unit 3, the same value is set for each drive disk 10 of the right drive unit 3, and different values ​​are set for each drive disk 10 of the left drive unit 3 and each drive disk 10 of the right drive unit 3. This creates a difference in the amount of movement in the longitudinal direction of the left and right drive units 3, causing the vehicle 1 to turn. Next, the first target rotation speed and the second target rotation speed are added together to set the target rotation speed for the left drive disk 10 and the target rotation speed for the right drive disk 10. Then, the control device 6 controls the left electric motor 12A based on the target rotation speed for the left drive disk 10, and controls the right electric motor 12A based on the target rotation speed for the right drive disk 10.

[0070] In the high position translation control, the control device 6 sets a target longitudinal speed value and a target lateral speed value based on a signal from the tilt angle sensor 45. Specifically, the control device 6 sets the target longitudinal speed value based on the tilt angle in the longitudinal direction of the signal received from the tilt angle sensor 45, and sets the target lateral speed value based on the tilt angle in the lateral direction. After setting the target longitudinal speed value and the target lateral speed value, the control device 6 performs processing similar to that in the low position translation control to set the target rotation speed of each drive disk 10.

[0071] In the high position turning control, the control device 6 sets a target longitudinal speed value and a target left and right turning amount value based on a signal from the tilt angle sensor 45. Specifically, the control device 6 sets the target longitudinal speed value based on the tilt angle in the longitudinal direction of the signal received from the tilt angle sensor 45, and sets the target left and right turning amount value based on the tilt angle in the left and right direction. After setting the target longitudinal speed value and the target left and right turning amount value, the control device 6 performs processing similar to that in the low position turning control to set the target rotation speed of each drive disk 10.

[0072] According to the vehicle 1 described above, the user can select a travel mode by operating the travel mode selector switch 41D, and can move the vehicle 1 according to the selected travel mode by operating the movement direction switch 41C. This allows the user to distinguish between the parallel movement mode and the turning mode, making operation easier. Furthermore, a common operator can be used to instruct the direction of parallel movement and the direction of turning of the vehicle 1.

[0073] Since the indicator 43 indicates the running mode that is being executed, the user can recognize the selected running mode by looking at the indicator 43.

[0074] Although the description of the specific embodiment has been completed above, the present invention is not limited to the above embodiment and can be widely modified and implemented. For example, the joystick that constitutes the movement direction switch 41C may have a grip portion that is held in the palm of the hand. In this case, the driving mode selector switch 41D may be provided on the grip portion of the joystick. This allows the user to operate the driving mode selector switch 41D while holding the joystick. The driving mode selector switch 41D may be provided on the tip of the grip portion.

[0075] The movement direction switch 41C and the driving mode selector switch 41D may be configured as a common joystick. In this case, the joystick may be configured to output a signal corresponding to a direction input when tilted by the user, and to output a signal corresponding to a driving mode selector input when pressed in from the neutral position by the user. This configuration allows the user to control the movement direction and driving mode of the vehicle 1 by operating the joystick, making operation easier. It also reduces the number of controls. [Explanation of symbols]

[0076] 1: Vehicles 2: Body frame 3: Drive unit 4: Sheet 5: Lifting device 6: Control device 7: Battery 8: Drive wheel 10: Drive disk 11: Drive roller 12A: Electric motor 13: Core body 14: Driven roller 18: Seat frame 19: Pad 23: Laura 24 :1st leg 40: Operating device 40A: Operation surface 40B: Operation panel 41: Operator 41A: Power switch 41B: Lift switch 41C: Movement direction switch 41D: Driving mode switch 43: Indicator 45: Tilt angle sensor 46: Seat position sensor 51: Lift control section 52: Driving control unit

Claims

1. It is a vehicle, The body frame and a seat disposed above the body frame and supporting the buttocks of a user; a lifting device provided between the vehicle body frame and the seat, for lifting the seat between a low position and a high position; a seat position sensor that detects the position of the seat relative to the vehicle body frame; at least one drive unit provided on the vehicle body frame, capable of translating in all directions on a floor surface and swiveling; a direction input device that accepts direction inputs corresponding to at least forward, backward, left, and right directions from the user; a mode switching operator that accepts a mode switching input corresponding to the mode switching by the user; a control device that controls the drive unit based on signals from the direction input device and the mode switching operator, the direction input device includes a movement direction switch and an inclination angle sensor provided on the body frame and detecting an inclination angle of the body frame; The control device switching a traveling mode of the drive unit between a parallel movement mode and a turning mode based on the mode switching input; When the parallel movement mode is selected, the drive unit is controlled based on a signal from the direction input device so that the drive unit moves parallel to the floor surface; When the turning mode is selected, the drive unit is controlled so as to turn relative to the floor surface based on a signal corresponding to left or right from the direction input device; When the seat is in the high position, the drive unit is controlled based on an inverted pendulum control, and the drive unit is driven based on the tilt angle so as to translate or rotate in the same direction as the tilt angle; A vehicle that controls the drive unit based on a signal from the travel direction switch when the seat is in the low position.

2. A vehicle as described in claim 1, wherein the movement direction switch is a joystick.

3. 3. The vehicle according to claim 1, wherein the mode switching operation device is a push switch.

4. The movement direction switch and the mode switching operator are a common joystick, 2. The vehicle of claim 1, wherein the joystick outputs a signal corresponding to the directional input when tilted by the user, and outputs a signal corresponding to the mode switching input when pushed in from the neutral position by the user.

5. 5. A vehicle according to claim 1, further comprising an indicator for indicating the running mode currently being executed.

6. The drive units are provided in pairs, one on the left and one on the right, Each of the drive units is a pair of drive disks rotatably supported by the vehicle body frame and arranged coaxially opposite each other; a plurality of drive rollers rotatably supported on the drive disc; a pair of actuators that independently rotate the pair of drive disks; 6. The vehicle according to claim 1, further comprising: a drive wheel that is annular, is disposed coaxially with the drive discs between a pair of the drive discs, contacts the plurality of drive rollers, and is rotatable about a central axis and an annular axis.

7. A vehicle described in any one of claims 1 to 6, wherein the control device does not perform the inverted pendulum control when the seat is in the low position.

8. At least one first leg extending downward from the seat and having a roller at its lower end; At least one second leg extending downward from the seat, having a contact member at its lower end, being extendable in the vertical direction, and biased in the extension direction; a lever connected to the second leg via a transmission mechanism, the lever being operated by the user to move the second leg to a retracted position; The abutment member maintains the vehicle in a stopped state by contacting the ground, When the seat is in the high position, the roller and the contact member are separated from the floor surface, 8. The vehicle according to claim 1, wherein when the seat is in the low position, the roller contacts the floor surface and the abutment member is capable of contacting the floor surface.

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